robot(diffrential wheel drive) plans the correct path, but the cmd_vel given is wrong as it contains(x and y components)
I am using a custom robot ,in which gmapping,keyboard teleop.launch works perfectly .When the move_base.launch and a 2 d goal is given the robot moves in a random path and the cmd_vel has both x and y components ,but it should have only x direction as it is a diffrential wheel drive.any extra information can be uploaded.
Possibly a configuration issue. There should be a line in your local planner YAML file that says something to effect of "holonomic_robot: false"
A holonomic robot can be given non-zero Y values in the TWIST/CMD_VEL message.